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Philippe Clement says he left Rangers "with a heavy heart" after his 16-month tenure came to an end last month.
Defeat at home to St Mirren on 22 February proved to be the 50-year-old Belgian's last game in charge.
A Scottish Cup to second tier Queen's Park at Ibrox two weeks earlier had piled huge pressure on the former Club Brugge and Monaco head coach, effectively ending Rangers' chances of domestic success this season.
"It has taken be a few days to fully process and accept the end of my time with this exceptional club," Clement said on X.
"I leave with a heavy heart, frustrated and disappointed that I couldn't consistently bring the team to the level we all expected.
"I understand your frustrations, and I share them."
Clement led Rangers to victory in the 2023 League Cup final against Aberdeen but Rangers finished second to Celtic in the Premiership and Scottish Cup last season.
There was more disappointment in December's League Cup final as Celtic beat their city rivals on penalties.
Brendan Rodgers' side also have extended their lead at the top of the Premiership to 16 points since Clement's departure.
However, notable wins in the Europa League secured a last-16 meeting with Fenerbahce, the first leg of which takes place on Thursday (17:45 GMT) and will be interim head coach Barry Ferguson's third game in charge.
"We worked passionately, day and night, and while we faced challenges, I will never forget the many great moments we had together," said Clement.
"Your unwavering supporter and the energy from the fans made those times truly special. In those moments, it felt like were one big family.
"For that reason, Rangers will always hold a special place in my heart."